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<div><a href="../../index.html">Home</a> &gt;  <a href="#">imael</a> &gt; <a href="#">geom3d</a> &gt; createRotationOz.m</div>

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<h1>createRotationOz
</h1>

<h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="box"><strong>CREATEROTATIONOZ return 4x4 matrix of a rotation around z-axis</strong></div>

<h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="box"><strong>function trans = createRotationOz(varargin) </strong></div>

<h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="fragment"><pre class="comment">CREATEROTATIONOZ return 4x4 matrix of a rotation around z-axis

   TRANS = createRotationOz(THETA);
   Returns the transform matrix corresponding to a rotation by the angle
   THETA (in radians) around the Oz axis. A rotation by an angle of PI/2
   would transform the vector [1 0 0] into the vector [0 1 0].

   The returned matrix has the form:
   [cos(THETA) -sin(THETA)  0  0]
   [sin(THETA)  cos(THETA)  0  0]
   [    0           0       1  0]
   [    0           0       0  1]

   TRANS = createRotationOz(ORIGIN, THETA);
   TRANS = createRotationOz(X0, Y0, Z0, THETA);
   Also specifies origin of rotation. The result is similar as performing
   translation(-X0, -Y0, -Z0), rotation, and translation(X0, Y0, Z0).


   See also:
   <a href="transforms3d.html" class="code" title="function varargout = transforms3d(varargin)">transforms3d</a>, <a href="transformPoint3d.html" class="code" title="function varargout = transformPoint3d(varargin)">transformPoint3d</a>, <a href="createRotationOx.html" class="code" title="function trans = createRotationOx(varargin)">createRotationOx</a>, <a href="createRotationOy.html" class="code" title="function trans = createRotationOy(varargin)">createRotationOy</a>

   ---------

   author : David Legland
   INRA - TPV URPOI - BIA IMASTE
   created the 06/04/2004.</pre></div>

<!-- crossreference -->
<h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
This function calls:
<ul style="list-style-image:url(../../matlabicon.gif)">
</ul>
This function is called by:
<ul style="list-style-image:url(../../matlabicon.gif)">
<li><a href="localToGlobal3d.html" class="code" title="function trans = localToGlobal3d(varargin)">localToGlobal3d</a>	LOCALTOGLOBAL3D  create transform from a vector and 3 rotation angles</li><li><a href="rotationOz.html" class="code" title="function trans = rotationOz(varargin)">rotationOz</a>	ROTATIONOZ return 4x4 matrix of a rotation around z-axis</li></ul>
<!-- crossreference -->



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